EP 4244098 A4 20240508 - APPARATUS AND METHOD FOR HANDLING TWISTLOCKS
Title (en)
APPARATUS AND METHOD FOR HANDLING TWISTLOCKS
Title (de)
VORRICHTUNG UND VERFAHREN ZUR HANDHABUNG VON TWISTLOCKS
Title (fr)
APPAREIL ET PROCÉDÉ DE MANIPULATION DE VERROUS PIVOTANTS
Publication
Application
Priority
CN 2020128155 W 20201111
Abstract (en)
[origin: WO2022099513A1] An apparatus and a method for handling twistlocks configured to lock a container (4) onto a vehicle (1). The apparatus comprises a robot (2) comprising a gripper (201) configured to grip one of the twistlocks to be mounted onto or dismounted from a corner fitting of the container (4); a visual sensor arranged on the robot (2) and configured to capture a first image of the corner fitting when the vehicle (1) is moving in a twistlock handling station (3); and a control unit. The control unit is configured to obtain, from the visual sensor, the first image of the corner fitting; determine, based on the first image, a first position of the corner fitting at the moment when the first image is captured by the visual sensor; determine a handling position of the gripper (201) for the one of the twistlocks, at which the gripper (201) is to be aligned with the corner fitting, based on the first position of the corner fitting and a position correction parameter representative of a predictive displacement of the corner fitting within a predetermined response time of the robot (2); and send the handling position to the robot (2) such that the gripper (201) moves to the handling position to handle the one of the twistlocks during the moving of the vehicle (1).
IPC 8 full level
B60P 7/08 (2006.01); B25J 5/00 (2006.01); B25J 5/02 (2006.01); B25J 9/00 (2006.01); B25J 9/16 (2006.01); B25J 19/02 (2006.01); B25J 19/04 (2006.01); B60P 7/13 (2006.01); B65D 90/00 (2006.01)
CPC (source: EP US)
B25J 5/007 (2013.01 - EP US); B25J 5/02 (2013.01 - EP); B25J 9/0093 (2013.01 - EP); B25J 9/1679 (2013.01 - EP); B25J 9/1697 (2013.01 - EP); B25J 15/0033 (2013.01 - US); B25J 19/023 (2013.01 - EP US); B65D 90/002 (2013.01 - EP US); B60P 7/132 (2013.01 - EP); G05B 2219/40252 (2013.01 - EP); G05B 2219/40298 (2013.01 - EP)
Citation (search report)
- [Y] WO 2012141658 A2 20121018 - MANIVANNAN S O CHELLAPPA [SG]
- [Y] US 2014067188 A1 20140306 - MIAN ZAHID F [US]
- [A] WO 2020009656 A1 20200109 - PSA INT PTE LTD [SG]
- [A] WO 2019007318 A1 20190110 - ZHANG KUN [CN], et al
- See also references of WO 2022099513A1
Designated contracting state (EPC)
AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR
DOCDB simple family (publication)
WO 2022099513 A1 20220519; CN 116323431 A 20230623; EP 4244098 A1 20230920; EP 4244098 A4 20240508; US 2023382637 A1 20231130
DOCDB simple family (application)
CN 2020128155 W 20201111; CN 202080106051 A 20201111; EP 20961072 A 20201111; US 202018248589 A 20201111